Work vehicle and work vehicle control method for charging

ABSTRACT

A power transmission device includes a gear mechanism, a predetermined controlling rotation element, an energy-generating motor, and a connected motor connected to the controlling rotation element. The energy storage unit is configured to store the energy generated by the energy-generating motor. The gear mechanism includes a first planetary gear mechanism, which includes a first rotation element, a second rotation element, and a third rotation element, which are mutually different. The engine is connected to the first rotation element. The energy-generating motor is connected to the third rotation element. The controlling rotation element may be at least one of the rotation elements between the second rotation element and the connected motor. The controller controls the locking of the controlling rotation element to thereby lock the second rotation element, and causes the energy-generating motor to rotate using the drive power from the engine to thereby accumulate energy in the energy storage unit.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a U.S. National stage application of InternationalApplication No. PCT/JP2015/051342, filed on Jan. 20, 2015. This U.S.National stage application claims priority under 35 U.S.C. §119(a) toJapanese Patent Application No. 2014-015943, filed in Japan on Jan. 30,2014, the entire contents of which are hereby incorporated herein byreference.

BACKGROUND

Field of the Invention

The present invention relates to a work vehicle and a work vehiclecontrol method for charging.

Background Information

Work vehicles, such as wheel loaders, are known that are equipped with apower transmission device that includes a torque converter and amulti-speed transmission (hereafter referred to as a “torque convertertransmission”). Recently, on the other hand, the hydraulic mechanicaltransmission (HMT) and the electro-mechanical transmission (EMT) havebeen replacing torque converter transmissions as power transmissiondevices.

As disclosed in Japanese Laid-Open Patent Application Publication No.2006-329244, an HMT includes a gear mechanism and a motor connected tothe rotational elements in the gear mechanism, where a portion of thedrive power from the engine is converted to hydraulic pressure andtransmitted to the travel apparatus while the remainder of the drivepower is mechanically transmitted to the travel apparatus.

An EMT is provided with a planetary gear mechanism and an electricmotor, for instance, to allow for continuously variable shifting. One ofthree elements, i.e., the sun gear, the carrier, or the ring gear in theplanetary gear mechanism is connected to an input shaft, and a secondelement is connected to an output shaft. Additionally, a third elementis connected to the electric motor. The electric motor functions aseither a motor or a generator depending on the travel status of the workvehicle. In an EMT the rotation speed of the output shaft variescontinuously in accordance with the variation in the speed of theelectric motor.

The HMT uses a hydraulic motor in place of the electric motor in theEMT. The hydraulic motor functions as either a motor or a pump dependingon the travel status of the work vehicle. Similar to the EMT, therotation speed ratio of the output shaft to the input shaft variescontinuously in accordance with the variation in the rotation speedratio of the hydraulic motor.

SUMMARY

A hybrid vehicle equipped with a power transmission device provided withthe above-described EMT or HMT is a series hybrid, a parallel hybrid, ora split power transmission based on the positional relationship betweenthe engine, the motor-generator, the planetary gear mechanism, and theoutput shaft. Additionally, a split power transmission may be an inputsplit, an output split, or a compound split type. An input-split powertransmission device is provided with a single planetary gear mechanismlocated near the input shaft of the gear shifting device (near theoutput shaft of the engine). An output-split power transmission deviceis provided with a single planetary gear mechanism located near theoutput shaft of the gear shifting device (near the axle). Acompound-split power transmission device is provided with two or moreplanetary gear mechanisms located near the input shaft and near theoutput shaft of the gear shifting device.

A battery or a capacitor is installed in a vehicle provided with an EMTfor driving the electric motor. Thus, when the vehicle is in standby ina neutral or in a key-off state (i.e., where the engine stops because akey is turned to an off position), the amount of power in the battery orthe capacitor will be less than the normal charge due to the effects ofnatural electric discharge. If an operation lever is switched to eitherthe F-position or the R-position while there is less charge and thevehicle is started, the vehicle causes the motor to operate as agenerator in accordance with the driving of the engine to return thebattery or capacitor to its normal charge. As a result, the accelerationof the vehicle suffers because the driving of the engine is being usedto charge the battery or capacitor during acceleration. Therefore, it ispreferable to charge the battery or capacitor as appropriate if there isless charge even if it is during a stop or a neutral state whereacceleration is not needed. Series hybrid and parallel hybrid outputsplit vehicles can connect the output shaft of the engine to therotation shaft of the motor-generator without going through theplanetary gear mechanism; therefore, the generator may be operated viarotation of the engine to facilitate charging the battery and the likein the hybrid vehicle. However, given that the input split type and thecompound split type transmissions connect the output shaft of the engineand the motor-generator via the planetary gear mechanisms, the desiredkind of charging cannot be performed without modifying a portion of therotation elements in the planetary gear mechanisms. Accordingly,charging a vehicle with an input split or compound split typetransmission while the vehicle is stopped or in the neutral state tendsto be more difficult compared to other transmission types.

The present invention proposes a work vehicle capable of charging and awork vehicle control method for charging which is applicable even towork vehicles equipped with a power transmission device configured toconnect the output shaft of an engine to the rotation shaft of amotor-generator via a planetary gear mechanism.

A work vehicle according to a first exemplary embodiment of the presentinvention is provided with an engine, a hydraulic pump, a workimplement, a travel apparatus, a power transmission device, acontroller, and an energy storage unit. The hydraulic pump is driven bythe engine. The work implement is driven by hydraulic fluid dischargedfrom the hydraulic pump. The engine drives the travel apparatus. Thepower transmission device transmits the drive power from the engine tothe travel apparatus. A power transmission device includes an inputshaft, an output shaft, a gear mechanism, a predetermined controllingrotation element, an energy-generating motor, and a connected motorconnected to the controlling rotation element. The gear mechanismincludes a first planetary gear mechanism, and is configured to transmitthe rotations of the input shaft to the output shaft. The firstplanetary gear mechanism includes a first rotation element, a secondrotation element, and a third rotation element, which are mutuallydifferent; The engine is connected to the first rotation element. Theconnected motor is connected to the second rotation element. Theenergy-generating motor is connected to the third rotation element. Thecontrolling rotation element is at least one of the rotation elementsbetween the second rotation element and the connected motor. The powertransmission device is configured such that changing the speed of theenergy-generating motor or the connected motor changes the speed ratioof the output shaft relative to the input shaft in the powertransmission device. The energy storage unit is configured to store theenergy generated by the energy-generating motor. The controller isconfigured to control the power transmission device. The controllercontrols the locking of the controlling rotation element to thereby lockthe second rotation element, and causes the energy-generating motor torotate using the drive power from the engine to thereby accumulateenergy in the energy storage unit.

The power transmission device may further include a rotation-elementlocking device. The gear mechanism may include a second planetary gearmechanism different from the first planetary gear mechanism. The secondplanetary gear mechanism includes a fourth rotation element, a fifthrotation element, and a sixth rotation element, which are mutuallydifferent. The fourth rotation element may be connected to one of thesecond rotation element and the third rotation element. Therotation-element locking device may be configured to limit the movementof the fifth rotation element or to release the limitation on themovement of the fifth rotation element. The sixth rotation element maybe connected to the output shaft. The controller may control the lockingof the controlling rotation element to thereby lock the second rotationelement, cause the rotation-element locking means to release thelimitation on the movement of the fifth rotation element, and cause theenergy-generating motor to rotate using the drive power from the engineto thereby accumulate energy in the energy storage unit.

Further, the controller may be configured to control the connected motorso that the speed of the connected motor becomes zero, thereby lockingthe controlling rotation element, when the energy stored in energystorage unit is greater than a first predetermined amount.

The power transmission device may further include a parking brakeconfigured to stop the output shaft. Further, the controller may beconfigured to cause the parking brake to engage thereby locking thesecond rotation element when the energy stored in energy storage unit isless than a first predetermined amount.

At least one of the clutches includes a first clutch configured to lockthe fifth rotation element or to release the fifth rotation element. Thefourth rotation element may be connected to the second rotation element.The power transmission device may further include a parking brakeconfigured to stop the output shaft. The controller may be configured tocause the parking brake to engage to lock the fifth rotation elementusing the first clutch, thereby locking the second rotation element,when the energy stored in energy storage unit is less than or equal to afirst predetermined amount.

The controller may be configured to drive the energy-generating motorwith the energy stored in the energy storage unit so that theenergy-generating motor generates a torque in a direction that hindersrotation thereof due to the drive power from the engine whenaccumulating energy in the energy storage unit, when the energy storedin the energy storage unit is greater than a second predeterminedamount.

The energy storage unit may be a capacitor.

The controller may be configured to increase the speed of the engineafter the first clutch is engaged.

A method of controlling a work vehicle according to a second exemplaryembodiment of the invention is a method of controlling a below describedwork vehicle. The work vehicle is provided with an engine, a hydraulicpump, a work implement, a travel apparatus, a power transmission device,a controller, and an energy storage unit. The hydraulic pump is drivenby the engine. The work implement is driven by hydraulic fluiddischarged from the hydraulic pump. The engine drives the travelapparatus. The power transmission device transmits the drive power fromthe engine to the travel apparatus. A power transmission device includesan input shaft, an output shaft, a gear mechanism, a predeterminedcontrolling rotation element, an energy-generating motor, and aconnected motor connected to the controlling rotation element. The gearmechanism includes a first planetary gear mechanism, and is configuredto transmit the rotations of the input shaft to the output shaft. Thefirst planetary gear mechanism includes a first rotation element, asecond rotation element, and a third rotation element, which aremutually different; The engine is connected to the first rotationelement. The connected motor is connected to the second rotationelement. The energy-generating motor is connected to the third rotationelement. The controlling rotation element may be at least one of therotation elements between the second rotation element and the connectedmotor. The power transmission device is configured such that changingthe speed of the energy-generating motor or the connected motor changesthe speed ratio of the output shaft relative to the input shaft in thepower transmission device. The energy storage unit is configured tostore the energy generated by the energy-generating motor. The controlmethod includes a step of controlling the locking of the controllingrotation element to thereby lock the second rotation element, and a stepof causing the energy-generating motor to rotate using the drive powerfrom the engine to thereby accumulate energy in the energy storage unit.

The work vehicle and the method of control according to exemplaryembodiments of the present invention, the connected motor and theenergy-generating motor are each connected to the first rotationelement, the second rotation element, and the third rotation element inthe planetary gear mechanism. Locking the controlling rotation elementthereby locks the second rotation element. The engine causes theenergy-generating motor to rotate, thereby accumulating energy in theenergy storage unit. Accordingly a work vehicle capable of charging anda work vehicle control method are provided that are applicable even towork vehicles provided with a power transmission device configured toconnect the output shaft of an engine and the rotation shaft of amotor-generator via a planetary gear mechanism.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a side view of a work vehicle.

FIG. 2 is a schematic view illustrating a configuration of the workvehicle.

FIG. 3 is a schematic view illustrating a configuration of a powertransmission device according to a first exemplary embodiment.

FIG. 4 illustrates a detailed internal configuration for an inverter.

FIG. 5A is a flowchart outlining operations in the power transmissiondevice according to the first exemplary embodiment.

FIG. 5B is a flowchart outlining operations in the power transmissiondevice according to the first exemplary embodiment.

FIG. 5C is a flowchart outlining operations in the power transmissiondevice according to the first exemplary embodiment.

FIG. 6 is a flowchart detailing operations of the inverter when chargingthe capacitor.

FIG. 7 is a schematic view illustrating a configuration of a powertransmission device according to a second exemplary embodiment.

FIG. 8 is a flowchart outlining operations in the power transmissiondevice according to a second exemplary embodiment.

FIG. 9 is a schematic view illustrating a configuration of the powertransmission device according to a second modification example.

FIG. 10 is a schematic view illustrating a configuration of the powertransmission device according to the first modification example.

FIG. 11 is a flowchart outlining operations in the power transmissiondevice according to the first modification example.

FIG. 12 is a flowchart outlining operations in the power transmissiondevice according to a second modification example.

DESCRIPTION OF EXEMPLARY EMBODIMENTS First Exemplary Embodiment

Exemplary embodiments of the present invention are described below withreference to the drawings. A side view of a work vehicle 1 according toan exemplary embodiment of the present invention is illustrated inFIG. 1. As illustrated in FIG. 1, the work vehicle 1 is provided with avehicle frame 2, a work implement 3, running wheels 4, 5, and a cab 6.The work vehicle 1 is a wheel loader, and travels by rotationallydriving the running wheels 4, 5. The work vehicle 1 uses the workimplement 3 to perform work such as excavation or digging.

The vehicle frame 2 includes a front frame 16 and a rear frame 17. Thefront frame 16 and the rear frame 17 are attached to be able to turnrelative to each other horizontally. The work implement 3 and therunning wheels 4 are attached to the front frame 16. The work implement3 is driven by hydraulic fluid from a later-described work implementpump 23 (refer to FIG. 2). A boom 11 and a bucket 12 are provided on thework implement 3. The boom 11 is mounted to the vehicle frame 2. Thework implement 3 is provided with a lift cylinder 13, and a bucketcylinder 14. The lift cylinder 13 and the bucket cylinder 14 arehydraulic cylinders. One end of the lift cylinder 13 is attached to thefront frame 16. The other end of the lift cylinder 13 is attached to theboom 11. Hydraulic fluid from the work implement pump 23 extends andretracts the lift cylinder 13 to thereby rotate the boom 11 vertically.A bucket 12 is attached at the front end of the boom 11. One end of thebucket cylinder 14 is attached to the vehicle frame 2. The other end ofthe bucket cylinder 14 is attached to the bucket 12 via a bell crank 15.Hydraulic fluid from the work implement pump 23 extends and retracts thebucket cylinder 14 to thereby rotate the bucket 12 vertically.

The cab 6 and the running wheels 5 are attached to the rear frame 17.The cab 6 is mounted on the vehicle frame 2. Arranged within the cab 6are a seat whereon an operator may sit, an operation device (laterdescribed), and the like.

The work vehicle 1 includes a steering cylinder 18. The steeringcylinder 18 is attached to the front frame 16 and the rear frame 17. Thesteering cylinder 18 is also a hydraulic cylinder. Hydraulic fluid froma later-described steering pump 28 extends and retracts the steeringcylinder 18 to thereby change the travel direction of the work vehicle 1to the left or the right.

FIG. 2 is a schematic view illustrating a configuration of the workvehicle 1 according to an exemplary embodiment. As illustrated in FIG.2, the work vehicle 1 is equipped with an engine 21, a PTO 22, a powertransmission device 24, a travel apparatus 25, an operation device 26, acontroller 27, and the like.

The engine 21 may be a diesel engine. Output of the engine 21 iscontrolled by adjusting the amount of fuel injected into a cylinder inthe engine 21. The amount of fuel may be adjusted via the controller 27controlling a fuel injector 21 a installed in the engine 21. The workvehicle 1 is provided with an engine-speed detector 31. The engine-speeddetector 31 detects the speed of the engine and sends the controller 27a detection signal indicative of the engine speed.

The work vehicle 1 may include the work implement pump 23, the steeringpump 28, and a transmission pump 29. The work implement pump 23, thesteering pump 28, and the transmission pump 29 are hydraulic pumps. ThePTO 22 transmits a portion of the drive power from the engine 21 to thehydraulic pumps 23, 28, 29. In other words, the PTO 22 distributes thedrive power from the engine 21 to the hydraulic pumps 23, 28, 29, and tothe power transmission device 24.

The work implement pump 23 is driven by drive power from the engine 21.The hydraulic fluid discharged from the work implement pump 23 issupplied to the above-described lift cylinder 13 and the bucket cylinder14 via a work implement control valve 41. The work vehicle 1 is equippedwith a work-implement-pump pressure detector 32. The work-implement-pumppressure detector 32 detects the discharge pressure of the hydraulicfluid expelled from the work implement pump 23 (referred to as“work-implement pump pressure” below), and sends the controller 27 adetection signal indicative of the work-implement pump pressure.

The work implement pump 23 is a variable displacement hydraulic pump.Changing the tilt angle of the swashplate or the tilt axis in the workimplement pump 23 changes the discharge capacity of the work implementpump 23. The work implement pump 23 is connected to a first capacitycontrol device 42. The first capacity control device 42 changes the tiltangle in the work implement pump 23 under the control of the controller27. The controller 27 may thereby control the discharge capacity of thework implement pump 23. For instance, the first capacity control device42 may adjust the tilt angle in the work implement pump 23 to create afixed pressure differential in front of and behind the work implementcontrol valve 41. The first capacity control device 42 may also changethe tilt angle in the work implement pump 23 as desired in accordancewith a command signal from the controller 27. More specifically, thefirst capacity control device 42 includes a first and a second valve(not shown). When the above-described work implement control valve 41changes the amount of hydraulic fluid being supplied to the workimplement 3, a pressure differential is generated between the dischargepressure from the work implement pump 23 and the pressure of thehydraulic fluid after passing through the work implement control valve41, depending on the change in the position of the work implementcontrol valve 41. The first valve, under control of the controller 27adjust the tilt angle in the work implement pump 23 so that the pressuredifferential in front of and behind the work implement control valve 41remains constant even when the load on the work implement 3 fluctuates.Additionally, the second valve under control of the controller 27 mayfurther change the tilt angle in the work implement pump 23. The workvehicle 1 is equipped with a first tilt-angle detector 33. The firsttilt-angle detector 33 detects the tilt angle in the work implement pump23 and sends the controller 27 a detection signal representing the tiltangle.

The steering pump 28 is driven by drive power from the engine 21. Thehydraulic fluid discharged from the steering pump 28 is supplied to theabove-described steering cylinder 18 via a steering control valve 43.The work vehicle 1 is equipped with a steering pump pressure detector35. The steering pump pressure detector 35 detects the pressure of thehydraulic fluid discharged from the steering pump 28 (termed “steeringpump pressure” below), and sends the controller 27 a detection signalindicative of the steering pump pressure.

The steering pump 28 is a variable displacement hydraulic pump. Changingthe tilt angle of the swashplate or the tilt axis in the steering pump28 changes the discharge capacity of the steering pump 28. The steeringpump 28 is connected to a second capacity control device 44. The secondcapacity control device 44 changes the tilt angle in the steering pump28 under the control of the controller 27. The controller 27 may therebycontrol the discharge capacity of the steering pump 28. The workimplement 1 is equipped with a second tilt-angle detector 34. The secondtilt-angle detector 34 detects the tilt angle in the steering pump 28and sends the controller 27 a detection signal representing the tiltangle.

The transmission pump 29 is driven by the drive power from the engine21. The transmission pump 29 is a fixed displacement hydraulic pump. Thehydraulic fluid discharged from the transmission pump 29 is supplied toclutches CF, CR, CL, CH in the power transmission device 24 vialater-described clutch control valves VF, VR, VL, VH. A transmissionpump pressure detector 36 detects the pressure of the hydraulic fluiddischarged from the transmission pump 29 (termed “transmission pumppressure” below), and sends the controller 27 a detection signalindicative of the transmission pump pressure.

The PTO 22 transmits a portion of the drive power from the engine 21 tothe power transmission device 24. The power transmission device 24transmits the drive power from the engine 21 to the travel apparatus 25.The power transmission device 24 converts and outputs the drive powerfrom the engine 21. The details on the configuration of the powertransmission device 24 are described later.

The travel apparatus 25 includes an axle 45 and running wheels 4, 5. Theengine 21 drives the travel apparatus 25. The axle 45 transmits thedrive power from the power transmission device 24 to the running wheels4, 5. Hereby, the running wheels 4, 5 rotate. The work vehicle 1 isprovided with an output speed detector 37 and an input speed detector38. The output speed detector 37 detects the rotation speed of theoutput shaft 63 in the power transmission device 24 (referred to as“output speed” below). Given that the output speed corresponds to thevehicle speed, the output speed detector 37 detects the vehicle speeddue to the travel apparatus 25 by detecting the output speed. The inputspeed detector 38 detects the rotation speed of the input shaft 61 inthe power transmission device 24 (referred to as “input speed” below).The output speed detector 37 sends the controller 27 a detection signalindicative of the output speed. The input speed detector 38 sends thecontroller 27 a detection signal indicative of the input speed.

Note that, instead of an output speed detector 37 and then input speeddetector 38 a rotation speed detector that detects the rotation speed ofrotation components inside the power transmission device 24 may beseparately provided to send signals to the controller 27, and thecontroller 27 may then compute the input speed and the output speed fromthe rotation speed of the rotation components.

The operator manipulates the operation device 26. The operation device26 may include a braking device 50, and acceleration device 51, a workimplement operating device 52, a forward-reverse switching device 54,and a steering device 57. Note that the operation device 26 may furtherinclude a gear shifting device 53.

The acceleration device 51 includes an accelerator control 51 a, and anacceleration detector 51 b. The accelerator control 51 a is operated toestablish a target speed for the engine 21. The acceleration detector 51b detects the degree to which the acceleration device 51 is operated(termed “accelerator operation amount” below). The acceleration detector51 b sends the controller 27 a detection signal indicative of theaccelerator operation amount.

The work implement operating device 52 contains a work implement control52 a and a work implement operation detector 52 b. The work implementcontrol 52 a is operated to move the work implement 3. The workimplement operation detector 52 b detects the position of the workimplement control 52 a. The work implement operation detector 52 boutputs a detection signal indicative of the position of the workimplement control 52 a to the controller 27.

The gear shifting device 53 includes a gear-shift control 53 a, and agear-shift detector 53 b. The operator may manipulate the gear-shiftcontrol 53 a to select a gear shifting pattern for the powertransmission device 24. The gear-shift detector 53 b detects theposition of the gear-shift control 53 a. The gear-shift detector 53 boutputs a detection signal to the controller 27 indicative of theposition of the gear-shift control 53 a.

A forward-reverse switching device 54 contains a forward-reverseswitching control 54 a and a forward-reverse switch detector 54 b. Inthe discussion that follows, the forward-reverse switching device 54,the forward-reverse switching control 54 a, and the forward-reverseswitch detector 54 b are referred to as the FR operation device 54, theFR control 54 a, and the FR switch detector 54 b respectively. The FRoperation device 54 may be selectively switched to a forward-travelposition (F), a neutral position (N), and a reverse-travel position (R).The FR switch detector 54 b detects the position of the FR control 54 a.The FR switch detector 54 b outputs a detection signal to the controller27 indicative of the position of the FR control 54 a.

The steering device 57 includes a steering control 57 a. A pilotpressure is supplied to the steering control valve 43 based on theoperation of the steering control 57 a allowing the steering device 57to thereby actuate the steering control valve 43. The operator maymanipulate the steering control 57 a to change the travel direction ofthe work vehicle 1 to the left or the right. Note that the steeringdevice 57 may convert the operation of the steering control 57 a into anelectrical signal to actuate the steering control valve 43.

The braking device 50 includes a brake control 50 a, and a brakingdetector 50 b. The operator may manipulate the brake control 50 a tooperate the braking device generate a braking force for the work vehicle1. The braking detector 50 b detects the position of the brake control50 a. The braking detector 50 b outputs a detection signal to thecontroller 27 indicative of the position of the brake control 50 a. Thebrake control 50 a includes a parking brake operation control thatactuates a parking brake PB (later described) when operated. The parkingbrake operation control may be, for instance, a braking switch, or aparking lever manipulable by the operator. A pilot pressure is suppliedto a parking brake control valve VB based on the operation of theparking brake operation control allowing the parking brake PB to therebyactuate the parking brake control valve VB. Finally, an operation signalis sent to the controller 27 when the parking brake operation control isoperated.

The controller 27 includes a computing device, such as a CPU, andmemory, such as RAM and ROM, and carries out processes for controllingthe work vehicle 1. The controller 27 also includes a motor control unit55 and a clutch control unit 58 for controlling the power transmissiondevice 24, a braking control unit 59 for actuating the braking device50, and a storage unit 56. The details on the configuration of the powertransmission device 24 are described later. The storage unit 56 storesprograms and data for controlling the work vehicle 1.

The controller 27 outputs a command signal to the fuel injector 21 aindicative of a commanded throttle value to obtain a target speed in theengine 21 corresponding to the accelerator operation amount. Thecontroller 27 controls the work implement control valve 41 on the basisof a detection signal from the work implement operation detector 52 band thereby controls the hydraulic pressure supplied to the hydrauliccylinders 13, 14. The hydraulic cylinders 13, 14 thereby extend andretract, moving the work implement 3.

The details on the configuration of the power transmission device 24 aredescribed next. FIG. 3 is a schematic view illustrating a configurationof the power transmission device 24. As illustrated in FIG. 3, the powertransmission device 24 is provided with an input shaft 61, a gearmechanism 62, the output shaft 63, a first motor MG1, a second motorMG2, and a capacitor 64. The rotation speed ratio of the input shaft 61to the output shaft 63 changes in the power transmission device 24 inaccordance with the change in the speed of the first motor MG1, or thesecond motor MG2. The input shaft 61 is connected to the above describedPTO 22. The rotations of the engine 21 are received by the input shaft61 via the PTO 22. That is, the input shaft 61 is connected to theoutput shaft of the engine. The gear mechanism 62 transmits therotations of the input shaft 61 to the output shaft 63. The output shaft63, connected to the above-described travel apparatus 25, transmits therotations from the gear mechanism 62 to the travel apparatus 25.

The gear mechanism 62 transmits the drive power from the engine 21. Whenthe speed of the first motor MG1 or the second motor MG2 changes in thegear mechanism 62, the gear mechanism 62 changes the speed ratio of theoutput shaft 63 to the input shaft 61. The gear mechanism 62 includes anFR switching mechanism 65, and a gear shifting mechanism 66.

The FR switching mechanism 65 includes an F-clutch CF, and R-clutch CR,and F-clutch output shaft 61 f, and R-clutch output shaft 61 r, a firstF-clutch gear Gf1, a second F-clutch gear Gf2, a first R-clutch gearGr1, a second R-clutch gear Gr2, and a third R-clutch gear Gr3. TheF-clutch CF connects or disconnects the F-clutch output shaft 61 f andthe input shaft 61 (F-clutch input shaft). The R-clutch CR connects ordisconnects the R-clutch output shaft 61 r and the input shaft 61(R-clutch input shaft). The first F-clutch gear Gf1 is connected to theF-clutch output shaft 61 f. The first R-clutch gear Gr1 is connected tothe R-clutch output shaft 61 r. The second F-clutch gear Gf2 isconnected to the power transmission shaft 67 and engaged with the firstF-clutch gear Gf1. The third R-clutch gear Gr3 is connected to the powertransmission shaft 67 and engaged with the second R-clutch gear Gr2. Thesecond R-clutch gear Gr2 is engaged with the first R-clutch gear Gr1 andthe third R-clutch gear Gr3. The second F-clutch gear Gf2 and the thirdR-clutch gear Gr3 are connected to the output shaft in the second motorMG2 via the power transmission shaft 67, first sun gear S1, firstplanetary gears P1, first ring gear R1, first outer ring gear Go1. Thatis, the F-clutch output shaft 61 f and the R-clutch output shaft 61 rare connected to the output shaft in the second motor MG2 via at leastone rotation element in the first planetary gear mechanism.

As illustrated in FIG. 3, the first and second F-clutch gears Gf1, Gf2,and the first through third R-clutch gear Gr1-Gr3 are merely examples,and may be any configuration so long as the rotation direction of thepower transmission shaft 67 when the F-clutch CF is connected, and therotation direction of the power transmission shaft 67 when the R-clutchCR is connected are mutually opposite.

The F-clutch CF and the R-clutch CR are hydraulic, with the transmissionpump 29 supplying the hydraulic fluid to each of clutches CF, CR. AnF-clutch control valve VF controls the hydraulic fluid supplied to theF-clutch CF. An R-clutch control valve VR controls the hydraulic fluidsupplied to the R-clutch CR. The clutch control valves VF, VR arecontrolled via the command signals from the clutch control unit 58. TheF-clutch CF and the R-clutch CR may be switched on (engaged) or switchedoff (disengaged) which thereby switches the direction of rotation of theoutput from the FR switching mechanism 65. That is, the F-clutch CF isconnected to the gear mechanism 62 (more specifically, to the firstF-clutch gear Gf1) that orients the travel apparatus 25 to travelforward. Additionally the R-clutch CR is connected to the gear mechanism62 (more specifically, to the first R-clutch gear Gr1) that orients thetravel apparatus 25 to travel in reverse.

The gear shifting mechanism 66 includes the power transmission shaft 67,the first planetary gear mechanism 68, the second planetary gearmechanism 69, a hi-lo switching mechanism 70, and an output gear 71. Thepower transmission shaft 67 is connected to the FR switching mechanism65.

The first planetary gear mechanism 68 includes a first sun gear S1, aplurality of first planetary gears P1, a first carrier C1 supporting theplurality of first planetary gears P1, and a first ring gear R1. Thefirst sun gear S1 is connected to the power transmission shaft 67. Forconvenience, the rotation element in the first planetary gear mechanism68 connected to the engine 21 via the FR switching mechanism 65 isreferred to as the first rotation element. That is, the first sun gearS1 corresponds to the first rotation element. The plurality of firstplanetary gears P1 engages with the first sun gear S1 and is supportedon the first carrier C1 to be able to rotate. A first carrier gear Gc1is provided on the periphery of the first carrier C1. The first ringgear R1 is able to rotate while engaged with the plurality of firstplanetary gears P1. The first ring gear R1 is also provided with a firstouter ring gear Go1 at the periphery thereof.

The second planetary gear mechanism 69 includes a second sun gear S2, aplurality of second planetary gears P2, a second carrier C2 supportingthe plurality of second planetary gears P2, and a second ring gear R2.The second sun gear S2 is connected to the first carrier C1. Theplurality of second planetary gears P2 engages with the second sun gearS2 and is supported on the second carrier C2 to be able to rotate. Thesecond ring gear R2 is able to rotate while engaged with the pluralityof second planetary gears P2. The second ring gear R2 also is providedwith a second outer ring gear Go2 at the periphery thereof. The secondouter ring gear Go2 engages with the output gear 71 whereby the rotationof the second ring gear R2 is output to the output shaft 63 via theoutput gear 71. For convenience, the rotation element in the secondplanetary gear mechanism 69 connected directly to rotation element inthe first planetary gear mechanism 68 on the carrier, bypassing theclutch, is referred to as the fourth rotation element. That is, thesecond sun gear S2 corresponds to the fourth rotation element.Additionally, the rotation element in the second planetary gearmechanism 69 connected to the output shaft 63 is referred to as thesixth rotation element. That is, the second ring gear R2 corresponds tothe sixth rotation element.

The hi-lo switching mechanism 70 is used to selectively switch the drivepower transmission route in the power transmission device 24 between afirst mode and a second mode. In the first exemplary embodiment thefirst mode is a Lo mode that may be selected when the speed ratio islow, and the second mode is a Hi mode that may be selected when thespeed ratio is high. The hi-lo switching mechanism 70 includes anH-clutch CH that is “on” during the Hi mode, and an L-clutch CL that is“on” during the Lo mode. The H-clutch CH connects or disconnects thefirst ring gear R1 and the second carrier C2. Additionally, the L-clutchCL connects or disconnects the second carrier C2 and a fixed end 72,thereby prohibiting or permitting rotation of the second carrier C2. Forconvenience, the rotation element in the second planetary gear mechanism69 connected to the L-clutch CL and the H-clutch CH is referred to asthe fifth rotation element. Accordingly the second carrier C2corresponds to the fifth rotation element.

The H-clutch CH is configured so that the H-clutch CH can limit themovement of the second carrier C2 (fifth rotation element) by connectingthe first ring gear R1 and the second carrier C2, or release anylimitations on the movement of the second carrier C2 (fifth rotationelement) by disconnecting the first ring gear R1 and the second carrierC2. The L-clutch CL is similarly configured so that the L-clutch CLstops (locks) the second carrier C2 (fifth rotation element) or releasesthe second carrier C2 (fifth rotation element). In other words, theL-clutch CL is configured so that the L-clutch CL can limit the movementof the second carrier C2 (fifth rotation element) by connecting thesecond carrier C2 and the fixed end 72, or release any limitations onthe movement of the second carrier C2 (fifth rotation element) bydisconnecting the second carrier C2 from the fixed end 72. Thus, in thefirst exemplary embodiment, a component configured to limit the movementof or release limitations on the movement of the fifth rotation elementis referred to as a rotation-element locking means or locking device.According to this definition, the H-clutch CH and the L-clutch CL arerotation-element locking means or locking devices.

Note that since the second carrier C2 is locked when the H-clutch CH isdisconnected and the L-clutch CL is connected, the second planetary gearmechanism 69 operates identically to a so-called deceleration apparatuswhere the speed reduction ratio is locked. Therefore, the secondplanetary gear mechanism 69 cannot provide continuously variableshifting. Accordingly, the power transmission device 24 is in inputsplit mode during the Lo mode. Whereas, since the first ring gear R1 andthe second carrier C2 are connected when the L-clutch CL is disconnectedand the H-clutch CH is connected, the first planetary gear mechanism 68and the second planetary gear mechanism 69 can provide continuouslyvariable shifting. Therefore, the power transmission device 24 is incompound split mode during Hi mode.

Note that the clutches CH, CL are hydraulic, with the transmission pump29 supplying the hydraulic fluid thereto. An H-clutch control valve VHcontrols the hydraulic fluid bound for the H-clutch CH. An L-clutch CLcontrol valve VL controls the hydraulic fluid bound for the L-clutch CL.The clutch control valves VH, VL are controlled via the command signalsfrom the clutch control unit 58.

The first motor MG1 and the second motor MG2 function as drive motorsthat use electrical energy to generate drive power. The first motor MG1and the second motor MG2 may also function as generators which use thedrive power entering therein to generate electrical energy; (in theexplanation that follows, this kind of motor is referred to as anenergy-generating motor). When the first motor MG1 rotates in adirection reverse of the rotation direction when the first motor MG1 isdriven, the first motor MG1 is operating as a generator. A first motorgear Gm1 secured to the output shaft of the first motor MG1, engageswith the first carrier gear Gc1. That is, the first motor MG1 isconnected to the first carrier C1 in the first planetary gear mechanism68. The first motor MG1 can control the speed of the F-clutch outputshaft 61 f and the R-clutch output shaft 61 r when the F-clutch CF andthe R-clutch CR are disconnected and the first ring gear R1 in the firstplanetary gear mechanism 68 is locked. Additionally, the engine 21 cancause the rotation shaft in the first motor MG1 to rotate when the firstring gear R1 in the first planetary gear mechanism 68 is locked.

For convenience, the rotation element in the first planetary gearmechanism 68 connected to the motor between the first motor MG1 and thesecond motor MG2 acting as the drive motor is referred to as the secondrotation element. Further the rotation element in the first planetarygear mechanism 68 connected to the motor between the first motor MG1 andthe second motor MG2 acting as a generator is referred to as the thirdrotation element. The first carrier C1 corresponds to the secondrotation element when the first motor MG1 acts as the drive motor; andthe first carrier C1 corresponds to the third rotation element when thefirst motor MG1 acts as the generator. With the first rotation elementthrough third rotation element defined as above, the first, second, andthird rotation elements are mutually different elements. Similarly, thefourth, fifth, and sixth rotation elements are mutually differentelements. Finally, it can be stated that the fourth rotation element inthe second planetary gear mechanism 69 (the second sun gear S2) isconnected to one of the second rotation element and the third rotationelement in the first planetary gear mechanism 68.

An inverter 60 is connected to the first motor MG1; a command signal issupplied to the inverter 60 from a motor control unit 55 that controlsthe motor torque in the first motor MG1. Further details on theconfiguration of the inverter 60 are described later. A first motorspeed detector 75 detects the speed of the first motor MG1. The firstmotor speed detector 75 sends the controller 27 a detection signalindicative of the speed of the first motor MG1.

The second motor MG2 is configured identically to the first motor MG1. Asecond motor gear Gm2 secured to the output shaft of the second motorMG2, engages with the first outer ring gear Go1. That is, the secondmotor MG2 is connected to the first outer ring gear Go1 (i.e., the firstring gear R1) in the first planetary gear mechanism 68. With the abovedefinition, the first ring gear R1 corresponds to the second rotationelement when the second motor MG2 acts as the drive motor; and the firstring gear R1 corresponds to the third rotation element when the secondmotor MG2 acts as the generator. The second motor MG2 can control thespeed of the F-clutch output shaft 61 f and the R-clutch output shaft 61r when the first carrier C1 in the first planetary gear mechanism 68 islocked. Additionally, the engine 21 can cause the rotation shaft in thesecond motor MG2 to rotate when the first carrier C1 in the firstplanetary gear mechanism 68 is locked.

The first carrier C1 and the first outer ring gear Go1 (i.e., the firstring gear R1) can be locked when the first motor MG1 and the secondmotor MG2 are operating as drive motors and are controlled so that thespeeds thereof are zero. In the explanation that follows, the motorconnected to the second rotation element in the first planetary gearmechanism is called the connected motor. Moreover, a rotation elementused to lock or release the second rotation element in the firstplanetary gear mechanism 68 is referred to as a controlling rotationelement, and the component used for locking or releasing the secondrotation element is referred to as a locking means or locking device.Therefore, the locking means or locking device includes the connectedmotor (i.e., the first motor MG1 or the second motor MG2). Furthermore,when the first carrier C1 (second rotation element) is locked due tosetting the speed of the first motor MG1 to zero, the rotation shaft ofthe first motor MG1 then corresponds to the controlling rotationelement. Additionally, when the first ring gear R1 (second rotationelement) is locked due to setting the speed of the second motor MG2 tozero, the rotation shaft of the second motor MG2 then corresponds to thecontrolling rotation element. Note that the controlling rotation elementmay be at least one rotation element between the second rotation elementand the connected motor.

The inverter 60 is connected to the second motor MG2; a command signalis supplied to the inverter 60 from the motor control unit 55 thatcontrols the motor torque in the second motor MG2. In the firstexemplary embodiment, the inverter 60 is exemplified by an integratedinverter used to drive both the first motor MG1 and the second motorMG2, however separate inverters may be used to drive the first motor MG1and the second motor MG2 respectively. Further details on theconfiguration of the inverter 60 are described later. A second motorspeed detector 76 detects the speed of the second motor MG2. The secondmotor speed detector 76 sends the controller 27 a detection signalindicative of the speed of the second motor MG2.

The capacitor 64 functions as an energy storage unit storing the energygenerated by the motors MG1, MG2. That is, the capacitor 64 stores thepower generated by the motors MG1, MG2 when the total amount of energygenerated is larger than the total amount of energy consumed by themotors MG1, MG2. The capacitor 64 also discharges energy power when thetotal amount of energy generated by the motors MG1, MG2 is greater thanthe total amount of energy consumed by the motors MG1, MG2. That is, themotors MG1, MG2 may be driven by the power stored in the capacitor 64. Atransformer 86 (FIG. 4) is provided between the capacitor 64 and theinverter 60. The transformer 86 is described later. Note that thecontroller 27 monitors energy currently stored in the capacitor 64, anduses the monitoring results in various kinds of control (laterdescribed). In addition, a battery or other forms of energy storingmeans may be used in place of the capacitor 64. However, compared toother energy storing means such as battery, a capacitor 64 is capable ofhigh-speed charging and high-speed discharging. The work vehicle 1performs a shuttling operation, i.e., switching between forward andreverse within a short time; therefore, a capacitor is more suitablethan a battery as an energy storage unit in the work vehicle 1 in termsof an ability to charge efficiently.

Note that the expression used to describe the size of the current storeddiffers when referring to a capacitor and when referring to a battery.For instance, the size of current stored in a capacitor is usuallyexpressed as a voltage, while the size of the current stored in abattery is expressed in ampere-hours (Ah). In the first exemplaryembodiment the size of the current stored by the energy storage unit isexpressed as the amount of electricity or the charge, and the termsamount of electricity and electric charge are assumed to encompass theabove described concept.

The motor control unit 55 typically receives detection signals from thevarious detectors and provides the inverter 60 with command signalsrepresenting a commanded torque or a commanded speed for the motors MG1,MG2. However, in this first exemplary embodiment the motor control unit55 includes a speed adjustment unit that adjusts the speed of theF-clutch output shaft 61 f and the R-clutch output shaft 61 r so thatthe motors MG1, MG2 can approach the speed of the input shaft 61 (i.e.,the input shaft of the F-clutch CF and the input shaft of the R-clutchCR) when driven by the engine 21.

In addition, the clutch control unit 58 typically provides the variousclutch control valves VF, VR, VH, VL with command signals used tocontrol the clutch pressure in the clutches CF, CR, CH, CL. However, inthis first exemplary embodiment the clutch control unit 58 includes aspeed adjustment unit that adjusts the speed of the input shaft 61(i.e., the input shaft of the F-clutch CF and the input shaft of theR-clutch CR) and the speed of the F-clutch output shaft 61 f and theR-clutch output shaft 61 r by slipping and engaging the F-clutch CF andthe R-clutch CR.

The power transmission device 24 is further provided with a parkingbrake PB and a parking brake control valve VB. The parking brake PB canswitch between an engaged state, and a disengaged state. In the engagedstate the parking brake PB stops the output shaft 63. In the disengagedstate the parking brake PB releases the output shaft 63. When theL-clutch CL is connected (the fifth rotation element in the secondplanetary gear mechanism 69 is stationary) and the parking brake PBstops the output shaft 63, the first carrier C1 (the second rotationelement in the first planetary gear mechanism 68) is stationary.Accordingly, the parking brake PB is included in the above-describedlocking means.

The parking brake control valve VB is controlled on the basis of commandsignals from a braking control unit 59 (i.e. the controller 27). Thebraking control unit 59 controls the parking brake control valve VB tothereby switch the parking brake PB between the engaged stated and thedisengaged state. Usually the parking brake PB is switched between theengaged state and the disengaged state in accordance with the operationof a parking brake operation control. Despite that, the braking controlunit 59 can switch the parking brake PB between the engaged stated andthe disengaged state without the operation of the parking brakeoperation control when a predetermined condition is met. Further detailson this predetermined condition are described later.

The parking brake PB contains a brake disc portion 73 a, and a pistonportion 73 b. The pressure of the hydraulic fluid supplied to the pistonportion 73 b causes the piston portion 73 b and the plurality of brakediscs in the brake disc portion 73 a to come in contact with each other.The parking brake PB is thereby in the engaged state. Additionally,discharging hydraulic fluid from the piston portion 73 b causes thepiston portion 73 b and the brake discs to be held out of contact witheach other due to the elastic force of an elastic component provided inthe piston portion 73 b. The parking brake PB is thereby in thedisengaged state.

FIG. 4 illustrates the details of the internal configuration of theinverter 60, and the connection relationship between the inverter 60 andthe motors MG1, MG2, and the capacitor 64. The inverter 60 is anintegrated inverter including an output terminal to the first motor MG1,and an output terminal to the second motor MG2. The inverter 60 alsoincludes a first output terminal 81, a second output terminal 82, afirst internal inverter 83, a second internal inverter 84, a firstcapacitor 85, a transformer 86, a second capacitor 87, a main contactor88, and a contactor-with-resistor 89.

The first output terminal 81 connects the first motor MG1 and the firstinternal inverter 83. The first output terminal 81 is preferably athree-phase output terminal for controlling the first motor MG1. Thesecond output terminal 82 connects the second motor MG2 and the secondinternal inverter 84. The second output terminal 82 is preferably athree-phase output terminal for controlling the second motor MG2.

The first internal inverter 83 outputs a drive signal for varying thevoltage and the frequency output to the first motor MG1 on the basis ofa command signal from the motor control unit 55 the first motor MG1. Thefirst internal inverter 83 is capable of outputting both a drive signalthat causes the first motor MG1 to rotate clockwise and a drive signalthat causes the first motor MG1 to rotate anticlockwise from a singlepower source made up by the capacitor 64. Additionally, the firstinternal inverter 83 converts the back EMF (electromotive force)generated due to the rotation of the first motor MG1 into a DC voltageand outputs the DC voltage to the capacitor 64 via the transformer 86.The terminals of the first internal inverter 83 outputs voltage of thesame polarity to the capacitor 64 via the transformer 86 regardless ofwhether the first motor MG1 rotates clockwise or anticlockwise.

The second internal inverter 84 outputs a drive signal for varying thevoltage and the frequency output to the second motor MG2 on the basis ofa command signal from the motor control unit 55 the second motor MG2.The second internal inverter 84 is capable of outputting both a drivesignal that causes the second motor MG2 to rotate clockwise and a drivesignal that causes the second motor MG2 to rotate anticlockwise from asingle power source made up by the capacitor 64. Additionally, thesecond internal inverter 84 converts the back EMF generated due to therotation of the second motor MG2 into a DC voltage and outputs the DCvoltage to the capacitor 64 via the transformer 86. The terminals of thesecond internal inverter 84 outputs voltage of the same polarity to thecapacitor 64 via the transformer 86 regardless of whether the secondmotor MG2 rotates clockwise or anticlockwise.

The first capacitor 85 and the second capacitor 87 are provided forpreventing ripples (inrush current), and the respective capacities aresubstantially smaller than the capacitor 64 and thus do not affect thepower exchange. The transformer 86 includes an Insulated Gate BipolarTransistor (IGBT). The transformer 86 adjusts whether the IGBT is on oroff to convert the voltage from the capacitor 64 into the voltage in thepower system between the transformer 86 and the inverters 83, 84 (e.g.550V). Alternatively the transformer 86 adjusts whether the IGBT is onor off to convert the voltage in the power system between thetransformer 86 and the inverters 83, 84 into the voltage for thecapacitor 64. Here, the voltage for the capacitor 64 is referred to as afirst-order voltage, and the voltage in the power system between thetransformer 86 and the inverters 83, 84 is also referred to as a secondorder voltage.

The main contactor 88 is an electromagnetic contactor; the maincontactor 88 sends the power from the capacitor 64 to the transformer86, or sends the power generated by the motors MG1, MG2 to the capacitor64 through the transformer 86. The contactor-with-resistor 89 is anelectromagnetic contactor with a resistor R added thereto. Thecontactor-with-resistor 89 is use during a preparation stage beforecharging using the motors MG1, MG2 is initiated. The details on how thecontactor-with-resistor 89 is used are described later.

In the first exemplary embodiment, the controller 27 locks the firstcarrier C1 in the first planetary gear mechanism 68, and adjusts themotors MG1, MG2 so that the rotation speed of the engine 21 and thepower transmission shaft 67 converge. The difference in speed with anengaged rotation shaft can thereby be reduced. The controller 27 maythen cause a first clutch to engage once the difference in speedsbetween the two rotation shafts are in a predetermined range, so thatthe second motor MG2 rotates due to drive power from the engine 21 tothereby charge the capacitor 64. That is, the controller 27 storesenergy in the energy storage unit. An outline of the operations of thepower transmission device 24 according to the first exemplary embodimentis described below using FIGS. 5A through 5C. FIGS. 5A through 5C areflowcharts outlining operations in the power transmission device 24according to the first exemplary embodiment. A method of charging byengaging the parking brake PB is described after step S60 in FIGS. 5Athrough 5C. A method of charging by controlling the motor speed tosynchronize the clutches is described after step S70 in FIGS. 5A through5C. A method of charging by using the engine rotation to modulate andthereby engage the clutches is described after step S130. Finally, theoperations of the power transmission device 24 presented below areexecuted when the work vehicle 1 starts, or when the FR operation device54 is set to the neutral position (N).

In step S10 the controller 27 determines whether or not the voltage Vcapin the capacitor 64 is lower than a charging start threshold Vchg_s.When the capacitor voltage Vcap is greater than or equal to the chargingstart threshold Vchg_s (No at step S10), the controller 27 ends thecontrol loop (FIG. 5A and FIG. 5C). When the capacitor voltage Vcap isless than the charging start threshold Vchg_s (Yes at step S10), thecontroller 27 determines whether or not the capacitor voltage Vcap ishigher than a carrier rotation control threshold Vlst2 (step S20). Whenthe capacitor voltage Vcap is less than or equal to the carrier rotationcontrol threshold Vlst2, this signifies that the capacitor 64 does nothold sufficient charge to controls the first motor MG1 and to lock thefirst carrier C1.

When the capacitor voltage Vcap is greater than the carrier rotationcontrol threshold Vlst2 (Yes at step S20), the controller 27 releasesboth the F-clutch CF and the R-clutch CR, and determines whether or notthe engine speed Neng is greater than a predetermined speed Nli. Thespeed is a value close to the speed of the engine 21 when theaccelerator is unpressed, and there is no load. When either the F-clutchCF or the R-clutch CR is connected, or, when the engine speed Neng isless than or equal to the predetermined speed Nli (No at step S30), thecontroller 27 ends the control loop (FIG. 5A and FIG. 5C). When both theF-clutch CF and the R-clutch CR are released, and the engine speed Nengis greater than the predetermined speed Nli (Yes at step S30), thecontroller 27 (motor control unit 55) controls the first motor MG1 sothat the speed of the first motor MG1 is set to 0 rpm (step S41). Inother words, the motor control unit 55 provides the inverter 60 with acommand signal for setting the speed of the first motor MG1 to 0 rpm.The motor control unit 55 controls the first motor MG1 so that the speedNm1 of the first motor MG1 (connected motor) is set to 0 rpm. That is,the controller 27 executes control to lock the controlling rotationelement (in this case, the rotation shaft of the first motor MG1)connected to the second rotation element (first carrier C1) to therebylock the second rotation element in the first planetary gear mechanism68. In other words, the locking means locks the second rotation elementin the first planetary gear mechanism 68.

Subsequently, the controller 27 (clutch control unit 58) controls theH-clutch control valve VH and the L-clutch CL control valve VL so thatboth the H-clutch CH and the L-clutch CL are released in step S42. Thatis, the clutch control unit 58 outputs a command signal to the H-clutchcontrol valve VH and the L-clutch CL control valve VL to release theH-clutch CH and the L-clutch CL. In other words, the controller 27(clutch control unit 58) causes the rotation-element locking means (theH-clutch CH and the L-clutch CL) to remove the limit on the movement ofthe fifth rotation element in the second planetary gear mechanism 69.Moreover, in step S42 the controller 27 (braking control unit 59)controls the parking brake control valve VB so that the parking brake PBis released (is disengaged). In other words, the braking control unit 59outputs a command signal to the parking brake control valve VB torelease the parking brake PB. Hereby, the output shaft 63 may rotatefreely, and therefore the work vehicle 1 may operate in neutral in thesame way a normal vehicle would operate. That is, when the operations instep S42 are carried out while the work vehicle 1 is traveling, the workvehicle 1 will travel due to inertia. Additionally, when the workvehicle 1 is positioned on an incline, the work vehicle 1 willaccelerate towards the descent of the slope when the gravity componentin a direction parallel to the slope is greater than the frictionalforces inside the work vehicle such as the power transmission device 24.

After step S42 is complete, the controller 27 sets a PB Charging Flag tofalse (step S43). The PB Charging Flag is a Boolean variable, and avalue of true signifies that charging can take place while the parkingbrake PB is engaged (later described, step S60).

Whereas, when the capacitor voltage Vcap is less than or equal to thecarrier rotation control threshold Vlst2 (No at step S20), thecontroller 27 further determines whether or not the vehicle speed Vs iszero in addition to the conditions in step S30. When the conditions instep S50 are not met (No at step S50), the controller 27 ends thecontrol loop (FIG. 5A and FIG. 5C). On the other hand when the conditionin step S50 is met (Yes at step S50), in step S60 the controller 27(i.e., the clutch control unit 58) controls the L-clutch control valveVL and the H-clutch control valve VH so that the L-clutch CL is engagedand the H-clutch CH is released. That is, the clutch control unit 58outputs a command signal to the L-clutch control valve VL to engage theL-clutch CL, and outputs a command signal to the H-clutch control valveVH to release the H-clutch CH. Moreover, in step S60 the controller 27(i.e., the braking control unit 59) controls the parking brake controlvalve VB so that the parking brake PB is engaged (in park). In otherwords, the braking control unit 59 outputs a command signal to theparking brake control valve VB to engage the parking brake PB. Herebythe controller 27 locks the first carrier C1 in the first planetary gearmechanism 68. In other words, the locking means locks the secondrotation element in the first planetary gear mechanism 68. In this casethe work vehicle 1 stops because the parking brake PB stops the outputshaft 63. After step S60 is complete, the controller 27 sets a PBCharging Flag to false (step S61).

When step S43 or step S61 is complete, the controller 27 determines instep S70 (FIG. 5B) whether or not the capacitor voltage Vcap is greaterthan a clutch synchronization control threshold Vlst1. When thecapacitor voltage Vcap is less than or equal to the clutchsynchronization control threshold Vlst1, this signifies that thecapacitor 64 does not contain sufficient power for the controller tocontrol the second motor MG2 and synchronize the input shaft and theoutput shaft of the F-clutch CF or the R-clutch CR. When the capacitorvoltage Vcap is less than or equal to the clutch synchronization controlthreshold Vlst1 (No at step S70), the control loop proceeds to thelater-described step S130. However when the capacitor voltage Vcap isgreater than the clutch synchronization control threshold Vlst1 (Yes atstep S70), the controller 27 (i.e., the speed adjustment unit/motorcontrol unit 55) controls the speed (Nm2) of the second motor MG2 sothat the speed of the output shafts 61 f, 61 r relative to the speed ofthe input shaft 61 of the F-clutch CF or the R-clutch CR (i.e., therelative speed of the F-clutch CF or the R-clutch CR) approaches zero(step S80). That is, the controller 27 (motor control unit 55) controlsthe second motor MG2 so that the speed of the output shafts 61 s, 61 rof the F-clutch CF or the R-clutch CR matches the speed of the inputshaft 61 of the F-clutch CF or that R-clutch CR.

Next, while controlling the second motor MG2, the controller 27determines whether or not the capacitor voltage Vcap is greater than theclutch synchronization control threshold Vlst1 (step S90). When thecapacitor voltage Vcap is less than or equal to the clutchsynchronization control threshold Visa (No at step S90), the controller27 suspends controlling the speed Nm2 of the second motor MG2 (stepS100) and returns to step S70. When the capacitor voltage Vcap isgreater than the clutch synchronization control threshold Vlst1 (Yes atstep S90), the controller 27 determines whether or not the absolutevalue of the relative speed RSf of the F-clutch CF is below apredetermined threshold Rth (where Rth is a positive value), or whetheror not the absolute value of the relative speed RSr of the R-clutch CRis below the predetermined threshold Rth (step S110). Note that thecontroller 27 may simply evaluate -Rth<RSf<Rth or -Rth<RSr<Rth in stepS110.

The control loop proceeds to step S80 when the absolute values of boththe relative speed RSf of the F-clutch CF and the relative speed RSr ofthe R-clutch CR are greater than or equal to the predetermined thresholdRth (No at step S110). When at least one of the absolute values of therelative speed RSf of the F-clutch CF and the relative speed RSr of theR-clutch CR is less than the predetermined threshold Rth (Yes at step110), the controller 27 (i.e., the clutch control unit 58) controls theclutch control valve for a first clutch which has a relative speed lessthan Rth, to thereby slip and then engage the first clutch (step S120).That is, the clutch control unit 58 outputs a command signal to theclutch control valve for the first clutch that engages the first clutchso that the first clutch does not slip. That is, the clutch control unit58 (speed adjustment unit) converges the speeds of the two rotationshafts in the first clutch to cause the first clutch to engage. Hereby,the wear on the first clutch may be reduced because the differences inspeeds in the first clutch is reduced before engaging the first clutch.At this point the clutch pressure in the first clutch is referred to asthe engagement pressure.

Whereas, when the capacitor voltage Vcap is less than or equal to theclutch synchronization control threshold Vlst1 (No at step S70), thecontroller 27 (clutch control unit 58) control is the clutch controlvalve for the first clutch so that the clutch pressure in the firstclutch increases by a predetermined increment (Step S130). That is, theclutch control unit 58 outputs a command signal to the clutch controlvalve for the first clutch that increases the clutch pressure in thefirst clutch by a predetermined increment. The controller 27 (clutchcontrol unit 58) increases the clutch pressure to thereby connect thetwo rotation shafts in the first clutch while the rotation shafts slip.Hereby, the controller 27 (clutch control unit 58) causes the speeds ofthe two rotation shafts in the first clutch to converge. The controller27 (clutch control unit 58) then determines whether or not the firstclutch is engaged (step S140). More specifically, the controller 27(clutch control unit 58) determines whether or not the clutch pressurein the first clutch has reached the engagement pressure. The clutchcontrol unit 58 may determine whether or not the engagement pressure isreached by evaluating the size of the electrical current in the commandsignal output to the clutch control valve for the first clutch. Thespeeds of the two rotation shafts in the first clutch are the same whenthe first clutch is engaged. That is, after the speeds of the tworotation shafts in the first clutch are the same, the controller 27(clutch control unit 58) connects the first clutch so that the firstclutch does not slip.

When the clutch pressure in the first clutch has not reached theengagement pressure (No at step S140), the controller 27 determineswhether or not the engine speed Neng is below a predetermined speed Npse(step S150). A speed less than the speed Npse is more likely to decreaseto an engine speed Nstp (later described) when the clutch is engaged.The control loop returns to step S130 when the engine speed Neng isgreater than or equal to the predetermined speed Npse (No at step S150).When the engine speed Neng is below the predetermined speed Npse (Yes atstep S150), the controller 27 determines whether or not the engine speedNeng is below a predetermined speed Nstp (step S160). A speed less thanthe speed Nstp is more likely to decrease to a speed where the engine 21stops (stalls).

When the engine speed Neng is greater than or equal to the predeterminedspeed Nstp (No at step S160), the controller 27 (clutch control unit 58)controls the clutch control valve for the first clutch to maintain theclutch pressure in the first clutch (step S170). That is, the clutchcontrol unit 58 outputs a command signal to the clutch control valve forthe first clutch that maintains the clutch pressure in the first clutch.When the engine speed Neng is below the predetermined speed Nstp (Yes atstep S160), the controller 27 (clutch control unit 58) controls theclutch control valve for the first clutch to release the first clutch(step S180). That is, the clutch control unit 58 outputs a commandsignal to the clutch control valve for the first clutch that releasesthe first clutch.

After steps S170 and S180 are complete, the controller 27 determineswhether or not the engine speed Neng exceeds the speed Nli (step S190).The control loop returns to step S130 when the engine speed Neng exceedsthe speed Nli (Yes at step S190). The control loop returns to step S160when the engine speed Neng is less than or equal to the speed Nli (No atstep S190).

When the first clutch is connected without slipping (after step S120,or, Yes at step S140), the controller 27 uses drive power from theengine 21 to cause the second motor MG2 to rotate to initiate thecharging of the capacitor 64 (S200). FIG. 6 is a flowchart detailingoperations of the inverter when charging the capacitor.

In this operation, first, the inverter 60 connects thecontactor-with-resistor 89 on the basis of a command signal from thecontroller 27 (S201). However, there is a problem that a large amount ofcurrent may flow into the capacitor 64 if the main contactor 88 issuddenly connected after disconnecting the contactors 88, 89 creates apotential difference at branch points A, B. Accordingly, the inverter 60connects the contactor-with-resistor 89 to reduce the amount of currentflowing to the capacitor 64.

Once the potential difference at the branch points A and B disappearsdue to connecting the contactor-with-resistor 89, the inverter 60connects the main contactor 88 (step S202), and disconnects thecontactor-with-resistor 89 (step S203) on the basis of the commandsignal from the controller 27. The controller 27 then determines whetheror not the capacitor voltage Vcap is greater than a predeterminedvoltage Vchg_th (step S204). The predetermined voltage Vchg_th is thevoltage required by the inverter 60 for the inverter 60 to generate adrive signal used to generate a torque in the second motor MG2 in adirection that hinders rotation by the engine 21 during thelater-described step S210.

When the capacitor voltage Vcap is less than or equal to thepredetermined voltage Vchg_th (No at step S204), the inverter 60actuates the IGBT in the transformer 86 on the basis of a command signalfrom the controller 27, and the second motor MG2 charges the capacitor64 with the back EMF generated due to the second motor MG2 being rotatedby the engine 21 (step S205). Next, the controller 27 determines whetheror not the PB Charging Flag is true, and whether or not the capacitorvoltage Vcap is greater than a predetermined voltage Vlst3 (step S206).When the PB Charging Flag is false, or the capacitor voltage Vcap isless than or equal to the predetermined voltage Vlst3 (No at step S206),the control loop returns to step S204. When the PB Charging Flag istrue, and the capacitor voltage Vcap is greater than a predeterminedvoltage Vlst3 (Yes at step S206), the clutch control unit 58 outputs acommand signal for releasing the L-clutch CL and the parking brake PB tothe L-clutch control valve VL and the parking brake control valve VB(step S207). That is, the controller 27 (clutch control unit 58) causesthe rotation-element locking means (the H-clutch CH and the L-clutch CL)to remove the limit on the movement of the fifth rotation element in thesecond planetary gear mechanism 69. Next, the motor control unit 55provides the inverter 60 with a command signal for setting the speed ofthe first motor MG1 to 0 rpm in step S208. That is, the motor controlunit 55 controls the first motor MG1 so that the speed Nm1 of the firstmotor MG1 (connected motor) is set to 0 rpm. More specifically, thecontroller 27 executes control to lock the controlling rotation element(in this case, the rotation shaft of the first motor MG1) connected tothe second rotation element (first carrier C1) to thereby lock thesecond rotation element in the first planetary gear mechanism 68.Hereby, the work vehicle 1 may operate in neutral in the same way anormal vehicle would operate. After step S208 is complete, thecontroller 27 sets a PB Charging Flag to false (step S209).

After step S209 is complete, the control loop returns to step S204. Whenthe capacitor voltage Vcap is greater than the predetermined voltageVchg_th (Yes at step S204), in step S210 the controller 27 outputs acommand signal to the inverter 60 (second internal inverter 84) forgenerating a torque in the second motor MG2 in a direction that hindersthe rotation by the engine 21. That is, when the capacitor 64 ischarging, the second motor MG2 is driven by the power stored in thecapacitor 64 so that the second motor MG2 generates a torque in adirection that hinders the rotation thereof by the drive power fromengine 21. Hereby, the back EMF output by the second motor MG2increases. Therefore, in step S206, the inverter 60 actuates the IGBT inthe transformer 86 and charge the capacitor 64 with a larger amount ofback EMF.

Returning to FIG. 5C, the controller 27 determines whether or not theoperator carried out a predetermined operation (step S215). A“predetermined operation” is, for instance, moving the FR control 54 afrom a neutral position (N) to another position (F, or R), or pressingon the accelerator control 51 a. When a detection signal is entered fromthe FR switch detector 54 b or the acceleration detector 51 b, thecontroller 27 can thereby determine that the operator performed apredetermined operation. The controller 27 ends the control loop ondetermining that the operator performed a predetermined operation (Yesat step S215). On determining that the operator did not perform thepredetermined operation (No at step S215), the controller 27 determineswhether or not the voltage Vcap in the capacitor 64 is lower than acharging end threshold Vchg_e (step S220). When the voltage Vcap in thecapacitor 64 is lower than a charging end threshold Vchg_e (No at stepS220), the control loop returns to step S200. When the voltage Vcap inthe capacitor 64 is greater than or equal to the charging end thresholdVchg_e (Yes at step S220), the controller 27 ends the control loop.

While charging the capacitor 64 as described above, the charging startthreshold Vchg_s, the carrier rotation control threshold Vlst2, thespeed threshold Nli, the clutch synchronization control threshold Vlst1,the relative speed threshold Rth, the speed threshold Npse, the speedthreshold Nstp, the charging control threshold Vchg_th, and the chargingend threshold Vchg_e are preliminarily determined and stored in thestorage unit 56. A relationship (Formula 1) is established betweenVlst1, Vlst2, Vlst3, Vchg_s, and Vchg_e. Another relationship (Formula2) is established between Nli, Npse, and Nstp.Vlst2<Vlst3<Vlst1<Vchg_s<Vchg_e  Formula 1Nstp<Npse<Nli  Formula 2

Note that although the above-described example illustrates a case whereVlst3<Vchg_th, steps S206 though S209 may be executed after step S210when using Vchg_th<Vlst3. The control loop will still return to stepS204 in this case when the controller determines “No” in step S206. WhenVlst3=Vchg_th, the controller 27 may determine only whether or not thePB Charging Flag is “True” in step S206.

In the above-described first exemplary embodiment the controller 27 (themotor control unit 55) controls the first motor MG1 to set the speed ofthe first motor MG1 to 0 rpm in step S41, however, the controller 27(motor control unit 55) may control the second motor MG2 to set thespeed of the second motor MG2 to 0 rpm. In this case, the second motorMG2 is the connected motor. The controller 27 executes control to lockthe controlling rotation element (in this case, the rotation shaft ofthe second motor MG2) connected to the second rotation element (firstring gear R1) to thereby lock the second rotation element in the firstplanetary gear mechanism 68. In step S80, the controller 27 (motorcontrol unit 55) controls the speed Nm1 of the first motor MG1 so thatthe speed of the output shafts 61 f, 61 r in relation to the speed ofthe input shaft 61 of the F-clutch CF or the R-clutch CR (i.e., therelative speed of the F-clutch CF or the R-clutch CR) approaches zero.The controller further suspends control of the speed Nm1 of the firstmotor MG1 in step S100. Hereby, it is the first motor MG1 that generatesthe back EMF in steps S205 and S206. In the same way in this case,because the output shaft 63 can rotate freely even if the first ringgear R1 is locked due to the release of both the F-clutch CF and theR-clutch CR, charging can take place in the work vehicle 1 while thework vehicle operates in neutral in the same way a normal vehicle wouldoperate.

Second Exemplary Embodiment

The first exemplary embodiment illustrated an example where switchingbetween connecting and disconnecting the H-clutch CH and the L-clutch CLthereby allows switching the power transmission device 24 between anoutput split mode and a compound split mode. However, the presentinvention may also be adopted in an input split type power transmissiondevice. The second exemplary embodiment provides an example of adoptingthe present invention in an input split type power transmission device.Given that a work vehicle according to the second embodiment hasnumerous similarities with a work vehicle according to the firstexemplary embodiment, only the differences with the first exemplaryembodiment are described in detail.

FIG. 7 is a schematic view illustrating a configuration of a powertransmission device 24 a according to a second exemplary embodiment. InFIG. 7 the components having the same functions as the components inFIG. 3 are given the same reference numerals. The gear shiftingmechanism 66 a in the gear mechanism 62 a of the power transmissiondevice 24 a is different from the gear shifting mechanism 66 in thepower transmission device 24. Compared to the gear shifting mechanism66, the gear shifting mechanism 66 a does not include a hi-lo switchingmechanism 70, a second carrier C2, second planetary gears P2, a secondring gear R2, or a second outer ring gear Go2. The power transmissiondevice 24 a also includes an output gear 71 meshing with an outer gear74, corresponding to the second sun gear S2, that is coupled with thefirst carrier C1.

The first carrier C1 and the output gear 71 are engaged in the powertransmission device 24 a. Therefore, when similarly to the firstexemplary embodiment, the first carrier C1 is locked in order to chargethe capacitor 64, the output shaft 63 is completely fixed. That is, thework vehicle 1 stops. Given this kind of feature of the powertransmission device 24 a according to the second exemplary embodiment,the operations of the power transmission device 24 a to charge thecapacitor 64 are slightly different from the operations in the firstexemplary embodiment. The differences in operation are explained belowin detail.

FIG. 8 is a flowchart outlining operations in the power transmissiondevice 24 a according to the second exemplary embodiment. The operationsafter step S44 and step S62 are identical to those in the firstexemplary embodiment, and thus a description thereof is omitted. Notethat the operations in FIG. 8 given the same reference numerals as inFIG. 5 means that the operations are identical. Finally, the operationsof the power transmission device 24 presented below are executed whenthe work vehicle 1 starts, or when the FR operation device 54 is set tothe neutral position (N).

In step S10, the controller 27 determines whether or not the voltageVcap in the capacitor 64 is lower than a charging start thresholdVchg_s. When the capacitor voltage Vcap is greater than or equal to thecharging start threshold Vchg_s (No at step S10), the controller 27 endsthe control loop (FIG. 8 and FIG. 5C). When the capacitor voltage Vcapis less than the charging start threshold Vchg_s (Yes at step S10), thecontroller 27 determines whether or not F-clutch CF and the R-clutch CRare both released, the engine speed Neng is greater than a predeterminedspeed Nli, and the vehicle speed Vs is zero (step S50). When theconditions in step S50 are not met (No at step S50), the controller 27ends the control loop (FIG. 8 and FIG. 5C).

On the other hand, when the conditions in step S50 are met (Yes at stepS50), the controller 27 determines whether or not the capacitor voltageVcap is higher than a carrier rotation control threshold Vlst2 (stepS20). When the capacitor voltage Vcap is higher than the carrierrotation control threshold Vlst2 (Yes at step S20), the controller 27(motor control unit 55) controls the first motor MG1 so that the speedof the first motor MG1 is set to 0 rpm (step S41). In other words, themotor control unit 55 provides the inverter 60 with a command signal forsetting the speed of the first motor MG1 to 0 rpm. That is, the motorcontrol unit 55 controls the first motor MG1 so that the speed Nm1 ofthe first motor MG1 (connected motor) is set to 0 rpm. Morespecifically, the controller 27 executes control to lock the controllingrotation element (the rotation shaft of the first motor MG1) connectedto the second rotation element (first carrier C1) to thereby lock thesecond rotation element in the first planetary gear mechanism 68. Inother words, the locking means locks the second rotation element in thefirst planetary gear mechanism 68. In this case the work vehicle 1 stopsbecause the output shaft 63 is stopped due to the first motor MG1. Next,in step S44 the controller 27 (braking control unit 59) controls theparking brake control valve VB so that the parking brake PB is released(is disengaged). In other words, the braking control unit 59 outputs acommand signal to the parking brake control valve VB to release theparking brake PB.

In contrast, when the capacitor voltage Vcap is less than or equal tothe carrier rotation control threshold Vlst2 (No at step S20), in stepS62 the controller 27 (braking control unit 59) controls the parkingbrake control valve VB so that the parking brake PB is engaged (inpark). In other words, the braking control unit 59 outputs a commandsignal to the parking brake control valve VB to engage the parking brakePB. Hereby the controller 27 locks the first carrier C1 in the firstplanetary gear mechanism 68. In other words, the locking means locks thesecond rotation element in the first planetary gear mechanism 68. Inthis case the work vehicle 1 stops because the parking brake PB stopsthe output shaft 63.

A work vehicle 1 according to the exemplary embodiments of the presentinvention has the following features.

The engine 21 is connected to the first sun gear S1 (the first rotationelement) in the first planetary gear mechanism 68. The first motor MG1is connected to the first carrier C1 (the second rotation element or thethird rotation element) in the first planetary gear mechanism 68. Thesecond motor MG2 is connected to the first ring gear R1 (the thirdrotation element or the second rotation element) in the first planetarygear mechanism 68. The controller 27 carries out control to lock therotation shaft of the first motor MG1 or the rotation shaft of thesecond motor MG2 (the controlling rotation element) to thereby lock thesecond rotation element (the first carrier C1 or the first ring gear R1)and causes the energy-generating motor, which is one of the first motorMG1 and the second motor MG2 to rotate using the drive power from theengine 21 to thereby charge the capacitor 64. Hereby, the capacitor 64can charge even if the work vehicle is equipped with a powertransmission device 24, 24 a which connects the output shaft of theengine 21 and the rotation shafts of the motors MG1, MG2 via a firstplanetary gear mechanism 68.

The gear mechanism 62 includes a plurality of planetary gear mechanisms68, 69. The engine 21 is connected to the first sun gear S1 (the firstrotation element) in the first planetary gear mechanism 68. The firstmotor MG1 is connected to the first carrier C1 (the second rotationelement or the third rotation element) in the first planetary gearmechanism 68. The second motor MG2 is connected to the first ring gearR1 (the third rotation element or the second rotation element) in thefirst planetary gear mechanism 68. When the second rotation element (thefirst carrier C1 or the first ring gear R1) is locked, the H-clutch CHand the L-clutch CL are disconnected. That is, the limitations by therotation-element locking means (the H-clutch CH and the L-clutch CL) onthe movement of the fifth rotation element (the second carrier C5) areremoved. Hereby, the output shaft 63 may rotate freely even though thefirst carrier C1 is locked, and therefore the work vehicle 1 may operatein neutral in the same way a normal vehicle would operate when chargingthe capacitor 64.

The second rotation element (the first carrier C1 and the first ringgear R1) may be locked by controlling the speed of the connected motorwhich is one of the first motor MG1 and the second motor MG2 so that thespeed thereof is 0 rpm. When locking the second rotation element bycontrolling the speed in this manner, there is no need for anyadditional dedicated hardware thereby allowing the work vehicle 1 to beproduced at a reduced cost.

The controller 27 according to the second exemplary embodiment may causethe parking brake PB to engage to thereby lock the first carrier C1 inthe first planetary gear mechanism 68 which is connected to the firstmotor MG1 when the amount of electricity Vcap stored in the capacitor 64is less than a first predetermined amount Vlst2 (i.e., when energystored in the energy storage unit is less than a first predeterminedamount). Hereby, it is possible to charge the capacitor 64 even when thecapacitor 64 is storing a small amount of electricity.

The controller 27 according to the second exemplary embodiment mayconnect the L-clutch and cause the parking brake PB to engage to therebylock the first carrier C1 in the first planetary gear mechanism 68 whichis connected to the first motor MG1 when the amount of electricity Vcapstored in the capacitor 64 is less than or equal to a firstpredetermined amount Vlst2 (i.e., when energy stored in the energystorage unit is less than or equal to a first predetermined amount).Hereby, it is possible to charge the capacitor 64 even when thecapacitor 64 is storing a small amount of electricity.

The controller 27 drives the energy-generating motor which is one of thefirst motor MG1 and the second motor MG2 with the electricity stored inthe capacitor 64 in order to generate a torque in a direction thathinders the rotation thereof due to the drive power from the engine 21when charging the capacitor 64, when the amount of electricity Vcapstored in the capacitor 64 is larger than a second predetermined amountVchg_th (i.e., when the energy stored in the energy storage unit isgreater than a second predetermined amount). Hereby, theenergy-generating motor output a larger back EMF to thereby reduce thecharging time for the capacitor 64.

The capacitor 64 may be used as an energy storage unit. The capacitordischarges more quickly than a battery due to its larger internalresistance. A work vehicle 1 according to the exemplary embodiments ofthe present invention is capable of charging a capacitor 64 whilestopped or in a state approaching neutral; therefore, it is possible touse a small-capacity capacitor as the drive source for the motors MG1,MG2.

Here ends the description of exemplary embodiments of the presentinvention; the present invention is not limited to these descriptionsbut may be modified in various ways and so far as the modifications donot deviate from the spirit of the present invention. The firstembodiment, the second embodiment, and the later described firstmodification example, and second modification example may be implementedindependently.

The present invention is not limited to the above described wheelloader, and may be adopted in another type of work vehicle, such as abulldozer, a tractor, a forklift, or a motor grader.

The present invention is not limited to an EMT and may be adopted inanother type of shifting device such as an HMT. In this case, the firstmotor MG1 functions as a hydraulic motor and a hydraulic pump. Thesecond motor MG2 also functions as a hydraulic motor and a hydraulicpump. The first motor MG1 and the second motor MG2 are variabledisplacement pump-motors where the controller 27 controls the swashplateor the tilt angle of the tilt axis to control the capacity thereof. Whenthe present invention is adopted in an HMT, an accumulator may be usedas the energy storage unit in place of the capacitor 64.

While in the exemplary embodiments the F-clutch CF or the R-clutch CR ismodulated and then engaged, the controller may first engage the F-clutchCF or the R-clutch CR, and then either control the motors MG1, MG2 sothat the speed thereof is 0 rpm, or modulate and engage the L-clutch CL.

In the exemplary embodiments the first through sixth rotation elementsare assumed to be the first sun gear S1, the first carrier C1, the firstring gear R1, the second sun gear S2, the second carrier C2, and thesecond ring gear R2, respectively. However, so long as the first throughthird elements are mutually different rotation elements in the firstplanetary gear mechanism 68, any kind of combination is acceptable. Inaddition, so long as the fourth through sixth elements are mutuallydifferent rotation elements in the second planetary gear mechanism 69,any kind of combination is acceptable. Furthermore, the positionalrelationship between the first carrier C1 and the second carrier C2 inthe first planetary gear mechanism 68 and the second planetary gearmechanism 69 may be reversed. Similarly, the terms “first motor MG1”,and “second motor MG2” are each provided for differentiating the motors;the component referred to as the first motor MG1 in the exemplaryembodiments may be referred to as the second motor MG2, and thecomponent referred to as the second motor MG2 may be referred to as thefirst motor MG1.

In addition, in the first exemplary embodiment the parking brake PB andthe H-clutch CH may be engaged, the L-clutch CL disconnected, and theengine 21 rotated so thereby at least one of the first motor MG1 and thesecond motor MG2 generates electricity.

While in step S41, the controller 27 executes control to set the speedof the connected motor to 0 rpm, the controlling rotation element may belocked using a different method. For instance, the connected motor maybe provided with a brake, and the brake may lock the rotation shaft(controlling rotation element) in the connected motor. Alternatively, aclutch may be provided between the second rotation element and theconnected motor with at least one rotation element in the clutchconnected to a fixed end like the L-clutch CL; in this case thecontroller 27 engages the aforementioned clutch to thereby lock thecontrolling rotation element.

The controller 27 may carry out the operations in steps S201 throughS203 before the step S140 or step S120. Additionally, the controller 27may increase the speed of the engine 21 during operations in step S205or step S210 (i.e., after engaging the first clutch). This reduces thecharging time for the capacitor 64.

In the second exemplary embodiment, the controller 27 may omit theconditional branch at step S20, and at “Yes” in step S50 carry out theoperations in step S60 in all cases. The operations in either step S41or step S60 locks the output shaft 63, and therefore the work vehicle 1stops.

In the above-described exemplary embodiments, the power transmissiondevice exemplified is provided with one or two planetary gearmechanisms; however, the number of planetary gear mechanisms provided tothe power transmission device may be three or more.

Although the above-described FR switching mechanism 65 is providedbetween the engine 21 and the gear shifting mechanisms 66, 66 a, the FRswitching mechanism 65 may be provided between the gear shiftingmechanisms 66, 66 a and the axle 45. FIG. 9 is a schematic viewillustrating a configuration of the power transmission device accordingto a first modification example 24 b. FIG. 10 is a schematic viewillustrating a configuration of the power transmission device accordingto a second modification example 24 c. In the first modification example24 b, the gear mechanism 62 b includes the gear shifting mechanism 66 ofthe first exemplary embodiment, and an FR switching mechanism 65 b. Inthe second modification example 24 c, the gear mechanism 62 c includesthe gear shifting mechanism 66 a of the second exemplary embodiment, andthe FR switching mechanism 65 b. The FR switching mechanism in the firstmodification example 24 b and the FR switching mechanism in the secondmodification example 24 c are identical and are therefore given the samereference numeral 65 b.

The input shaft 61 and the power transmission shaft 67 in FIG. 3 andFIG. 7 are integrated into an input shaft 61 a in the two modificationexamples mentioned above. In FIG. 9 and FIG. 10 the input shaft 61 a isconnected to this first sun gear S1. The first planetary gear mechanism68 is arranged coaxially with the input shaft 61 a. The second planetarygear mechanism 69 in FIG. 9 is arranged coaxially with the input shaft61 a. Additionally, a first output shaft 63 a and a second output shaft63 b are provided in place of the output shaft 63 in FIG. 3 and FIG. 7.The first output shaft 63 a engages with the output gear 71 whereby therotation of the second ring gear R2 is output to the first output shaft63 a via the output gear 71. Note that a first output speed detector 37a may be provided between the output gear 71 and the FR switchingmechanism 65 b to detect the speed of the first output shaft 63 a.

The F-clutch CF in the FR switching mechanism 65 b connects anddisconnects the first F-clutch gear Gf1 and the first output shaft 63 a.The R-clutch CR connects and disconnects the first R-clutch gear Gr1 andthe first output shaft 63 a. The second F-clutch gear Gf2 is connectedto the second output shaft 63 b and engaged with the first F-clutch gearGf1. The third R-clutch gear Gr3 is connected to the second output shaft63 b and engaged with the second R-clutch gear Gr2. The second R-clutchgear Gr2 is engaged with the first R-clutch gear Gr1 and the thirdR-clutch gear Gr3. The second output shaft 63 b is connected to thetravel apparatus 25. The second output shaft 63 b is provided with asecond output speed detector 37 b which corresponds to the output speeddetector 37 in FIG. 3. The parking brake PB this provide into the secondoutput shaft 63 b to stop the second output shaft.

The speeds of the F-clutch output shaft 61 f and the R-clutch outputshaft 61 r can be calculated from the speed of the second output shaft63 b detected by the second output speed detector 37 b. The speeds ofthe input shafts in the F-clutch CF and the R-clutch CR can becalculated from the speed of the first output shaft 63 a detected by thefirst output speed detector 37 a. Therefore, the relative speed of theclutches CF, CR can be detected based on the outputs from the firstoutput speed detector 37 a and the second output speed detector 37 b.Note that the speeds of the first motor MG1 and the second motor MG2 maybe calculated in the modification examples from the input speeds of theclutches CF, CR similarly to the above-described exemplary embodiments.

In the above modification examples, the F-clutch CF and the R-clutch CRmay both be released when setting the speed of the first motor MG1 to 0rpm to lock the first carrier C1. Consequently, the overall operationsof the power transmission device 24 varies slightly between the firstmodification example 24 b and the second modification example 24 c. Onlythe differences between the overall operations of the power transmissiondevice according to the first modification example 24 b and the secondmodification example 24 c and the first and second exemplary embodimentsare described below in detail. FIG. 11 is a flowchart outliningoperations in the power transmission device according to the firstmodification example 24 b. FIG. 12 is a flowchart outlining operationsin the power transmission device according to the second modificationexample 24 c. The operations after step S42 and step S60 in FIG. 11 andFIG. 12 are identical to those in the first embodiment, and thus adescription thereof is omitted. Furthermore, the operations in FIG. 11and FIG. 12 with the same reference numerals as in FIG. 5A and FIG. 8signify that those operations are identical.

Referring to FIG. 11 and FIG. 5A, the only difference in the firstmodification example 24 b from the first exemplary embodiment is theexecution of step S200 after step S43. That is, after the speed of thefirst motor MG1 is set to 0 rpm and the first carrier C1 is locked (stepS41), the work vehicle 1 can forgo connecting the clutches CF, CR, andcharge the capacitor 64. However, when the first carrier C1 is lockedusing the parking brake PB (step S60), the work vehicle 1 carries outthe same operations as in the first exemplary embodiment.

Referring FIG. 12 and FIG. 8, the only difference in the secondmodification example 24 c from the second exemplary embodiment is theexecution of step S200 after step S43. That is, after the speed of thefirst motor MG1 is set to 0 rpm and the first carrier C1 is locked (stepS41), the work vehicle 1 can forgo connecting the clutches CF, CR, andcharge the capacitor 64. However, when the first carrier C1 is lockedusing the parking brake PB (step S60), the work vehicle 1 carries outthe same operations as in the second exemplary embodiment.

The FR switching mechanism 65, 65 b may be omitted from the firstembodiment and the first modification example 24 b. In that case, theinput shaft 61 and the power transmission shaft 67 in FIG. 3 may changeto the input shaft 61 a. Consequently, step S200 may be executedimmediately after step S43 and step 61 in FIG. 5A. In other words, theoperation for internal synchronization of the first clutch, that issteps S70 to S190 may be omitted.

The exemplary embodiments of the present invention provide a workvehicle capable of charging even for a work vehicle equipped with apower transmission device configured to connect the output shaft of anengine and the rotation shaft of a motor-generator via a planetary gearmechanism.

The invention claimed is:
 1. A work vehicle comprising: an engine; ahydraulic pump driven by the engine; a work implement driven byhydraulic fluid discharged from the hydraulic pump; a travel apparatusdriven by the engine; a power transmission device including an inputshaft, an output shaft, a gear mechanism, a predetermined controllingrotation element, an energy-generating motor, a connected motorconnected to the controlling rotation element, and a rotation-elementlocking device configured to restrict and release rotation of thecontrolling rotation element, the power transmission device beingconfigured to transmit the drive power from the engine to the travelapparatus; a controller configured to control the power transmissiondevice; and an energy storage unit configured to store the energygenerated by the energy-generating motor; the power transmission devicebeing configured such that changing the speed of the energy-generatingmotor or the connected motor changes the speed ratio of the output shaftrelative to the input shaft in the power transmission device; the gearmechanism including a first planetary gear mechanism, the gear mechanismbeing configured to transmit the rotations of the input shaft to theoutput shaft; the first planetary gear mechanism including a firstrotation element, a second rotation element, and a third rotationelement which are mutually different; the engine being connected to thefirst rotation element; the connected motor being connected to thesecond rotation element; the energy-generating motor being connected tothe third rotation element; and the controlling rotation element beingat least one of the rotation elements between the second rotationelement and the connected motor; the controller being configured tocontrol the rotation-element locking device to restrict rotation of thecontrolling rotation element to thereby lock the second rotationelement, and cause the energy-generating motor to rotate using the drivepower from the engine to thereby accumulate energy in the energy storageunit.
 2. The work vehicle according to claim 1, wherein the gearmechanism includes a second planetary gear mechanism different from thefirst planetary gear mechanism, the second planetary gear mechanismincludes a fourth rotation element, a fifth rotation element, and asixth rotation element, which are mutually different, the fourthrotation element is connected to one of the second rotation element andthe third rotation element, the rotation-element locking device isconfigured to restrict and release rotation of the fifth rotationelement as the controlling rotation element, the sixth rotation elementis connected to the output shaft; and the controller is configured tocontrol the locking of the controlling rotation element to thereby lockthe second rotation element, cause the rotation-element locking deviceto release the limitation on the movement of the fifth rotation element,and cause the energy-generating motor to rotate using the drive powerfrom the engine to thereby accumulate energy in the energy storage unit.3. The work vehicle according to claim 2, wherein the controller isconfigured to control the connected motor so that the speed of theconnected motor becomes zero, thereby locking the controlling rotationelement, when the energy stored in energy storage unit is greater than afirst predetermined amount.
 4. The work vehicle according to claim 1,wherein the power transmission device further includes a parking brakeconfigured to stop the output shaft; and the controller is configured tocause the parking brake to engage thereby locking the second rotationelement when the energy stored in energy storage unit is less than orequal to a first predetermined amount.
 5. The work vehicle according toclaim 2, wherein the rotation-element locking device includes a firstclutch configured to lock the fifth rotation element or to release thefifth rotation element; and the fourth rotation element is connected tothe second rotation element; the power transmission device furtherincludes a parking brake configured to stop the output shaft; and thecontroller is configured to cause the parking brake to engage to lockthe fifth rotation element using the first clutch, thereby locking thesecond rotation element, when the energy stored in energy storage unitis less than or equal to a first predetermined amount.
 6. The workvehicle according to claim 5, wherein the controller is configured todrive the energy-generating motor with the energy stored in the energystorage unit so that the energy-generating motor generates a torque in adirection that hinders rotation thereof due to the drive power from theengine when accumulating energy in the energy storage unit, when theenergy stored in the energy storage unit is greater than a secondpredetermined amount.
 7. The work vehicle according to claim 6, whereinthe energy storage unit is a capacitor.
 8. The work vehicle according toclaim 7, wherein the controller is configured to increase the speed ofthe engine after the first clutch is engaged.
 9. The work vehicleaccording to claim 1, wherein the controller is configured to drive theenergy-generating motor with the energy stored in the energy storageunit so that the energy-generating motor generates a torque in adirection that hinders rotation thereof due to the drive power from theengine when accumulating energy in the energy storage unit, when theenergy stored in the energy storage unit is greater than a secondpredetermined amount.
 10. The work vehicle according to claim 1, whereinthe energy storage unit is a capacitor.
 11. The work vehicle accordingto claim 10, wherein the controller is configured to increase the speedof the engine when the energy is accumulated in the energy storage unit.12. A method of controlling a work vehicle, the work vehicle beingequipped with an engine, a hydraulic pump driven by the engine, a workimplement driven by hydraulic fluid discharged from the hydraulic pump,a travel apparatus driven by the engine, a power transmission deviceincluding an input shaft, an output shaft, a gear mechanism, apredetermined controlling rotation element, an energy-generating motor,a connected motor connected to the controlling rotation element, and arotation-element locking device configured to restrict and releaserotation of the controlling rotation element, the power transmissiondevice configured to transmit the drive power from the engine to thetravel apparatus, and an energy storage unit being configured to storeenergy generated by the energy-generating motor; the power transmissiondevice being configured such that changing the speed of theenergy-generating motor or the connected motor changes the speed ratioof the output shaft relative to the input shaft in the powertransmission device; the gear mechanism including a first planetary gearmechanism, the gear mechanism being configured to transmit the rotationsof the input shaft to the output shaft; the first planetary gearmechanism including a first rotation element, a second rotation element,and a third rotation element which are mutually different; the enginebeing connected to the first rotation element; the connected motor beingconnected to the second rotation element; the energy-generating motorbeing connected to the third rotation element; the controlling rotationelement being at least one of the rotation elements between the secondrotation element and the connected motor; the control method comprisingthe steps of: controlling the rotation-element locking device torestrict rotation of the controlling rotation element to thereby lockthe second rotation element; and causing the energy-generating motor torotate using the drive power from the engine to thereby accumulateenergy in the energy storage unit.